Isaac Gym Envs PPO updates (vwxyzjn#233)

* Create ppo_continuous_action_isaacgym.py

* Create a.txt

* Add files via upload

* Delete a.txt

* Update ppo.md

* Create ppo-isaacgymenvs.md

* Update mkdocs.yml

* Update LICENSE

* pre-commit

* add gitignore

* Add docs

* update poetry

* revert changes

* update docs

* quick udpate

* update isaacgym lock

* Update lock file

* remove old one

* update docs

* Update docs

* Update a note

* update isaacgymenvs command

* Update docs

* Update docs

* Add an explanation note

* Add a note on common installation issue

Co-authored-by: Markel Sanz Ausin <markelsanz14@gmail.com>

.github/workflows/constraints.txt

@@ -0,0 +1,3 @@
+pip==22.0.3
+poetry==1.1.13
+virtualenv==20.13.1

.gitignore

@@ -1,3 +1,12 @@
+balance_bot.xml
+cleanrl/ppo_continuous_action_isaacgym/isaacgym/examples
+cleanrl/ppo_continuous_action_isaacgym/isaacgym/isaacgym
+cleanrl/ppo_continuous_action_isaacgym/isaacgym/LICENSE.txt
+cleanrl/ppo_continuous_action_isaacgym/isaacgym/rlgpu_conda_env.yml
+cleanrl/ppo_continuous_action_isaacgym/isaacgym/setup.py
+
+IsaacGym_Preview_3_Package.tar.gz
+IsaacGym_Preview_4_Package.tar.gz
 debug.sh.docker.sh
 docker_cache
 rl-video-*.mp4

LICENSE

@@ -262,3 +262,28 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
+
+
+---------------------------------------------------------------------------------
+The cleanrl/ppo_continuous_action_isaacgym.py is contributed by Nvidia
+
+SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+SPDX-License-Identifier: MIT
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

benchmark/ppo.sh

@@ -57,3 +57,17 @@ xvfb-run -a poetry run python -m cleanrl_utils.benchmark \
     --command "poetry run python cleanrl/ppo_pettingzoo_ma_atari.py --track --capture-video" \
     --num-seeds 3 \
     --workers 3
+
+# IMPORTANT: see specific Isaac Gym installation at
+# https://docs.cleanrl.dev/rl-algorithms/ppo/#usage_8
+poetry install -E "isaacgym"
+xvfb-run -a poetry run python -m cleanrl_utils.benchmark \
+    --env-ids Cartpole Ant Humanoid BallBalance Anymal  \
+    --command "poetry run python cleanrl/ppo_continuous_action_isaacgym/ppo_continuous_action_isaacgym.py --track --capture-video" \
+    --num-seeds 3 \
+    --workers 1
+xvfb-run -a poetry run python -m cleanrl_utils.benchmark \
+    --env-ids AllegroHand ShadowHand \
+    --command "poetry run python cleanrl/ppo_continuous_action_isaacgym/ppo_continuous_action_isaacgym.py --track --capture-video --num-envs 8192 --num-steps 8 --update-epochs 5 --num-minibatches 4 --reward-scaler 0.01 --total-timesteps 600000000 --record-video-step-frequency 3660" \
+    --num-seeds 3 \
+    --workers 1

cleanrl/ppo_continuous_action_isaacgym/isaacgym/pyproject.toml

@@ -0,0 +1,27 @@
+[tool.poetry]
+name = "isaacgym"
+version = "1.0.preview4"
+description = ""
+authors = ["Costa Huang <costa.huang@outlook.com>"]
+include = ["isaacgym", "examples"]
+packages = [
+    { include = "isaacgym" },
+]
+
+[tool.poetry.dependencies]
+python = ">=3.7.1,<3.10"
+gym = "0.23.1"
+torch = "^1.12.0"
+torchvision = "^0.13.0"
+PyYAML = ">=5.3.1"
+scipy = ">=1.5.0"
+numpy = ">=1.16.4"
+Pillow = "^9.2.0"
+imageio = "^2.19.5"
+ninja = "^1.10.2"
+
+[tool.poetry.dev-dependencies]
+
+[build-system]
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"